Lightning v1.2.0-beta.1 🤗

Lightning v1.2.0-beta.1

Introducing the new version of lightning v1.2.0-beta.1.

In this new version you will find new functions that will increase the efficiency and potential of your robot autonomous routines.

Features

• Added MotionLight Compatibility to run S-Curve and Trapezoidal profilers.
• New MotionLightReader API
• Added new motor telemetry funcitons.
• Fixing and updating odometry functions.
• Added the Boomerang controller.
• Optimization of different functions.

The functions

Most of these functions have more overloads.

void drive_to_pose(std::vector<double> target_point, double orientation, float lead); 

void run_MotionLight_profile(const char* motion_light_file, const okapi::QAngle target_orientation); 

void swing_turn_relative(lightning::swing_direction_e_t swing_direction, okapi::QAngle angle, const int opposide_speed_rpm = 0);

void set_voltage_limit(const std::int32_t left_side_voltage_limit, const std::int32_t right_side_voltage_limit); 

void set_current_limit(const std::int32_t left_side_current_limit, const std::int32_t right_side_current_limit); 

double get_motor_group_position(pros::MotorGroup& motor_group) ;

double get_left_side_current_draw(const bool get_all_motors, const std::uint8_t index = 0) const;

double get_right_side_current_draw(const bool get_all_motors, const std::uint8_t index = 0) const;

double get_left_side_efficiency(const bool get_all_motors, const std::uint8_t index = 0) const;

double get_right_side_efficiency(const bool get_all_motors, const std::uint8_t index = 0) const;

double get_left_side_power(const bool get_all_motors, const std::uint8_t index = 0) const;

double get_right_side_power(const bool get_all_motors, const std::uint8_t index = 0) const;

double get_left_side_temperature(const bool get_all_motors, const std::uint8_t index = 0) const;

double get_right_side_temperature(const bool get_all_motors, const std::uint8_t index = 0) const;

double get_left_side_torque(const bool get_all_motors, const std::uint8_t index = 0) const;

double get_right_side_torque(const bool get_all_motors, const std::uint8_t index = 0) const;

std::int32_t get_left_side_voltage(const bool get_all_motors, const std::uint8_t index = 0) const;

std::int32_t get_right_side_voltage(const bool get_all_motors, const std::uint8_t index = 0) const;
  
std::int32_t left_side_is_over_current(const bool get_all_motors, const std::uint8_t index = 0) const;

std::int32_t right_side_is_over_current(const bool get_all_motors, const std::uint8_t index = 0) const;
  
std::int32_t left_side_is_over_temp(const bool get_all_motors, const std::uint8_t index = 0) const;

std::int32_t right_side_is_over_temp(const bool get_all_motors, const std::uint8_t index = 0) const;